Yes. I don't think there's anything wrong with it and I don't like sleeping with guys who have a problem riding the ruby rocket! The only one that I'm really not comfortable with, though have experienced, is oral sex during your period. I'm just way too worried about what it smells and tastes like - even though I've only ever heard that it smells and tastes like iron.
As long as you make sure to protect your sheets, or even better, do it in the shower, you're good to go. And I've never met a guy who was horrified at getting blood all over his cock, just worried about me being horrified. I've even had my period start during sex. It's really not as bad as it seems.